/* USER CODE BEGIN Header */
/**
  ******************************************************************************
  * @file           : main.c
  * @brief          : Main program body
  ******************************************************************************
  * @attention
  *
  * Copyright (c) 2025 STMicroelectronics.
  * All rights reserved.
  *
  * This software is licensed under terms that can be found in the LICENSE file
  * in the root directory of this software component.
  * If no LICENSE file comes with this software, it is provided AS-IS.
  *
  ******************************************************************************
  */
/* USER CODE END Header */
/* Includes ------------------------------------------------------------------*/
#include "main.h"
#include "tim.h"
#include "usart.h"
#include "gpio.h"

/* Private includes ----------------------------------------------------------*/
/* USER CODE BEGIN Includes */
#include"rc_receiver.h"
#include"pwm_measure.h"

/* USER CODE END Includes */

/* Private typedef -----------------------------------------------------------*/
/* USER CODE BEGIN PTD */
void _sys_exit(int x)
{
  x = x;
}

struct __FILE
{
  int handle;
};

FILE __stdout;

/* USER CODE END PTD */

/* Private define ------------------------------------------------------------*/
/* USER CODE BEGIN PD */

int32_t freq;
uint32_t duty;
uint32_t capture;

void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
{
	if(htim->Instance == TIM2)
	{
    // 上升沿捕获
		if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
    {      
      capture = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
      freq = 1000000/capture;
    }
    else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
    {
      uint32_t capture2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
      duty = (capture2 * 100)/capture;
    }
	}
}


// void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim)
// {
//     static uint32_t last_capture = 0;  // 用于保存上一次的捕获值
//     static uint32_t period = 0;        // 用于保存周期
    
//     if(htim->Instance == TIM2)
//     {
//         // 上升沿捕获
//         if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_1)
//         {      
//             capture = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_1);
//             period = capture - last_capture;  // 计算实际周期
//             last_capture = capture;            // 保存当前捕获值
//             freq = 10000 / period;             // 使用实际周期计算频率
//         }
//         // 下降沿捕获
//         else if(htim->Channel == HAL_TIM_ACTIVE_CHANNEL_2)
//         {
//             uint32_t capture2 = HAL_TIM_ReadCapturedValue(htim, TIM_CHANNEL_2);
//             // 计算高电平时间
//             uint32_t high_time = capture2 - last_capture;
//             // 计算占空比
//             duty = (high_time * 100) / period;
//         }
//     }
// }


/* USER CODE END PD */

/* Private macro -------------------------------------------------------------*/
/* USER CODE BEGIN PM */

/* USER CODE END PM */

/* Private variables ---------------------------------------------------------*/

/* USER CODE BEGIN PV */

/* USER CODE END PV */

/* Private function prototypes -----------------------------------------------*/
void SystemClock_Config(void);
/* USER CODE BEGIN PFP */

/* USER CODE END PFP */

/* Private user code ---------------------------------------------------------*/
/* USER CODE BEGIN 0 */

/* USER CODE END 0 */

/**
  * @brief  The application entry point.
  * @retval int
  */
int main(void)
{

  /* USER CODE BEGIN 1 */

  /* USER CODE END 1 */

  /* MCU Configuration--------------------------------------------------------*/

  /* Reset of all peripherals, Initializes the Flash interface and the Systick. */
  HAL_Init();

  /* USER CODE BEGIN Init */

  /* USER CODE END Init */

  /* Configure the system clock */
  SystemClock_Config();

  /* USER CODE BEGIN SysInit */

  /* USER CODE END SysInit */

  /* Initialize all configured peripherals */
  MX_GPIO_Init();
  MX_TIM1_Init();
  MX_TIM2_Init();
  MX_USART1_UART_Init();
  MX_TIM4_Init();
  /* USER CODE BEGIN 2 */
	
  // 开启输入捕获
  // HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
  // HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
  
  printf("PWM Measurement Started\r\n");
	
  /* USER CODE END 2 */

  /* Infinite loop */
  /* USER CODE BEGIN WHILE */
  while (1)
  {

    HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
    HAL_Delay(500);

    /**
     *     __HAL_TIM_SET_COUNTER(&htim2, 0);

    //2.
    __HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_CC1);
    __HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_CC2);


    HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
    HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_2);
    // 4.
    HAL_GPIO_WritePin(GPIOA,GPIO_PIN_0,GPIO_PIN_SET);
    for(int i=0;i<10;i++);

    //5.
    uint8_t sucess=0;
    uint32_t expireTime=HAL_GetTick()+50;
    

    while (expireTime>HAL_GetTick())
    {
      uint32_t cc1Flag=__HAL_TIM_GET_FLAG(&htim2,TIM_FLAG_CC1);
      uint32_t cc2Flag=__HAL_TIM_GET_FLAG(&htim2,TIM_FLAG_CC2);

      if (cc1Flag==1&& cc2Flag==1)
      {
        sucess=1;
        break;
      }
    }

    HAL_TIM_IC_Stop_IT(&htim2, TIM_CHANNEL_1);
    HAL_TIM_IC_Stop_IT(&htim2, TIM_CHANNEL_2);
    
    HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
    HAL_Delay(500);
    if(sucess)
    {
      uint16_t ccr1=htim2.Instance->CCR1;
      uint16_t ccr2=htim2.Instance->CCR2;
      float pulseWidth=(ccr2-ccr1)*1e-6;
      float distance=pulseWidth*340/2;
      // HAL_UART_Transmit(&huart1,(uint8_t*)&distance,4,1000);
    }

    HAL_UART_Transmit(&huart1,"hello",5,1000);
     */
    // LED
    // PWM_GetMeasurements(&pwm_data);
    // if (pwm_data.data_ready) {

    //     printf("PWM Measurement: ");
    //     printf("Period = %d us, ", pwm_data.period_us);
    //     printf("Pulse Width = %d us, ", pwm_data.pulse_width_us);
    //     printf("Duty Cycle = %.2f %%\r\n", pwm_data.duty_cycle);
    // }
    //ref:https://www.bilibili.com/video/BV18r421M72r/?spm_id_from=333.337.search-card.all.click&vd_source=e3ed489a22ae94393a92f5cd97f9586e
		// printf("start \n");
    // // 清除标志位
    // __HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_CC1);
    // //2.启动定时器
    // HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);
    // HAL_TIM_IC_Start_IT(&htim2, TIM_CHANNEL_1);

    // //3.等待CC1标志位被置位
    // while(__HAL_TIM_GET_FLAG(&htim2, TIM_FLAG_CC1) == RESET);
    // //清除标志位
    // __HAL_TIM_CLEAR_FLAG(&htim2, TIM_FLAG_CC1);

    // //4.再次等待CC1标志位被置位
    // while(__HAL_TIM_GET_FLAG(&htim2, TIM_FLAG_CC1) == RESET);
    
    // //5.停止定时器
    // HAL_TIM_IC_Stop_IT(&htim2, TIM_CHANNEL_1);
    // HAL_TIM_IC_Stop_IT(&htim2, TIM_CHANNEL_2);
    

    // //6.计算
    // uint16_t ccr1= __HAL_TIM_GET_COMPARE(&htim2, TIM_CHANNEL_1); 
    // uint16_t ccr2= __HAL_TIM_GET_COMPARE(&htim2, TIM_CHANNEL_2);

    // float period = ccr1*1e-6;
    // float pulse_width =ccr2*1e-6;
    // float duty_cycle = pulse_width / period * 100.0f;

    // printf("Period: %.1f us, Pulse Width: %.1f us, Duty Cycle: %.1f %%\n", period, pulse_width, duty_cycle);
    // HAL_GPIO_TogglePin(GPIOC, GPIO_PIN_13);
    // HAL_Delay(500);
    // printf("hello drone\n");

    // printf("capture %d freq:%d hz\tduty:%d%%\n", capture,freq, duty);
    // HAL_Delay(10);

    /* USER CODE END WHILE */

    /* USER CODE BEGIN 3 */
  }
  /* USER CODE END 3 */
}

/**
  * @brief System Clock Configuration
  * @retval None
  */
void SystemClock_Config(void)
{
  RCC_OscInitTypeDef RCC_OscInitStruct = {0};
  RCC_ClkInitTypeDef RCC_ClkInitStruct = {0};

  /** Initializes the RCC Oscillators according to the specified parameters
  * in the RCC_OscInitTypeDef structure.
  */
  RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSE;
  RCC_OscInitStruct.HSEState = RCC_HSE_ON;
  RCC_OscInitStruct.HSEPredivValue = RCC_HSE_PREDIV_DIV1;
  RCC_OscInitStruct.HSIState = RCC_HSI_ON;
  RCC_OscInitStruct.PLL.PLLState = RCC_PLL_ON;
  RCC_OscInitStruct.PLL.PLLSource = RCC_PLLSOURCE_HSE;
  RCC_OscInitStruct.PLL.PLLMUL = RCC_PLL_MUL9;
  if (HAL_RCC_OscConfig(&RCC_OscInitStruct) != HAL_OK)
  {
    Error_Handler();
  }

  /** Initializes the CPU, AHB and APB buses clocks
  */
  RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
                              |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
  RCC_ClkInitStruct.SYSCLKSource = RCC_SYSCLKSOURCE_PLLCLK;
  RCC_ClkInitStruct.AHBCLKDivider = RCC_SYSCLK_DIV1;
  RCC_ClkInitStruct.APB1CLKDivider = RCC_HCLK_DIV2;
  RCC_ClkInitStruct.APB2CLKDivider = RCC_HCLK_DIV1;

  if (HAL_RCC_ClockConfig(&RCC_ClkInitStruct, FLASH_LATENCY_2) != HAL_OK)
  {
    Error_Handler();
  }
}

/* USER CODE BEGIN 4 */

/* USER CODE END 4 */

/**
  * @brief  This function is executed in case of error occurrence.
  * @retval None
  */
void Error_Handler(void)
{
  /* USER CODE BEGIN Error_Handler_Debug */
  /* User can add his own implementation to report the HAL error return state */
  __disable_irq();
  while (1)
  {
  }
  /* USER CODE END Error_Handler_Debug */
}
#ifdef USE_FULL_ASSERT
/**
  * @brief  Reports the name of the source file and the source line number
  *         where the assert_param error has occurred.
  * @param  file: pointer to the source file name
  * @param  line: assert_param error line source number
  * @retval None
  */
void assert_failed(uint8_t *file, uint32_t line)
{
  /* USER CODE BEGIN 6 */
  /* User can add his own implementation to report the file name and line number,
     ex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */
  /* USER CODE END 6 */
}
#endif /* USE_FULL_ASSERT */
